US5752207A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for determining a path for a machine between a predetermined route and a final position
Assignee: Caterpillar Inc
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Filing: 1995-09-29
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Granted: 1998-05-12
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Expires: 2015-09-29
Abstract
Abstract A method and apparatus for automatically determining and modeling a path between a route and a final position is provided. An initial position on the route and a set of path equations between the initial position and the final position are determined. A set of path data points is computed using the set of path equations and the path as defined by the path data points is modeled. The curvature of the path at each point is determined using the model and validated against a reference curvature.
Inventors
- 👤 Jagannathan Sarangapani
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 00:51
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0212
Claims Analysis
Total Claims: 11
Claim 1
Independent Claim
136 words
A method for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising: (a) determining an initial position on the route using a position determining system, said initial position including an initial location and an initial heading; (b) determining a set of path equations between said initial position and the final position; (c) computing a set of path data points using said set of path equations; (d) determining a model of the path as defined by said path data points; (e) determining the curvature of the path at each of said path data points using said model; (f) determining an other initial position and repeating steps (b)-(e) if said curvature at any path data point is greater than a predetermined curvature.
Claim 2
Independent Claim
136 words
A method for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising: (a) determining an initial position on the route using a position determining system, said initial position including an initial location and an initial heading; (b) determining a set of path equations between said initial position and the final position; (c) computing a set of path data points using said set of path equations; (d) determining a model of the path as defined by said path data points; (e) determining the curvature of the path at each of said path data points using said model; (f) determining an other initial position and repeating steps (b)-(e) if said curvature at any path data point is greater than a predetermined curvature.
Claim 3
Dependent Claim
86 words
A method, as set forth in claim 1, wherein said step of determining an initial position on the route includes the steps of: (a)(1) determining the point on the route (S 0 ) closest to the final position; (a)(2) determining a sample point a first predetermined distance from S 0 along the route; (a)(3) validating said sample point; (a)(4) choosing another sample point and repeating step (a)(3) if said sample point is not validated; and (a)(5) setting the initial position equal to a validated sample point.
Claim 4
Dependent Claim
62 words
A method, as set forth in claim 2, wherein said step (a)(3) includes the step of validating said sample point if one of the following is true: a heading at said first sample point varies from a heading at S 0 by at least a predetermined angle and said sample point is a second predetermined distance from S 0 along said route.
Claim 5
Dependent Claim
23 words
A method, as set forth in claim 1, wherein said set of path data points in step (c) is of a predetermined number.
Claim 6
Dependent Claim
20 words
A method, as set forth in claim 1, wherein said model of the path of step (d) is a B-Spline.
Claim 7
Dependent Claim
29 words
A method, as set forth in claim 1, wherein said other initial position of step (f) is determined as a point a predetermined distance from the previous initial position.
Claim 8
Independent Claim
127 words
An apparatus for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising: means for generating a final position signal indicative of the final position, and, means for determining an initial position on the route, said initial position including an initial location and an initial heading; computing a set of path data points between said initial position and the final position; modeling the path defined by said path data points; determining the curvature of the path at each path data point using said model; and determining an other initial position and another path using said other initial position if said curvature at any path data point is greater than a predetermined curvature.
Claim 9
Independent Claim
127 words
An apparatus for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising: means for generating a final position signal indicative of the final position, and, means for determining an initial position on the route, said initial position including an initial location and an initial heading; computing a set of path data points between said initial position and the final position; modeling the path defined by said path data points; determining the curvature of the path at each path data point using said model; and determining an other initial position and another path using said other initial position if said curvature at any path data point is greater than a predetermined curvature.
Claim 10
Independent Claim
177 words
An apparatus for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising: a first machine; means, located on said first machine, for generating a final position signal indicative of the final position, and, means, located on said first machine, for transmitting said final position signal; a second machine, said second machine adapted to traverse the predetermined route; means, located on said second machine, for receiving said final position signal; means, located on said second machine, for determining an initial position on the route, said initial position including an initial location and an initial heading; computing a set of path data points between said initial position and the final position; modeling the path defined by said path data points; determining the curvature of the path at each path data point using said model; and determining an other initial position and an other path using said other initial position if said curvature at any path data point is greater than a predetermined curvature.
Claim 11
Independent Claim
177 words
An apparatus for automatically determining and modeling a path between a route and a final position, the final position including a final location and a final heading, comprising: a first machine; means, located on said first machine, for generating a final position signal indicative of the final position, and, means, located on said first machine, for transmitting said final position signal; a second machine, said second machine adapted to traverse the predetermined route; means, located on said second machine, for receiving said final position signal; means, located on said second machine, for determining an initial position on the route, said initial position including an initial location and an initial heading; computing a set of path data points between said initial position and the final position; modeling the path defined by said path data points; determining the curvature of the path at each path data point using said model; and determining an other initial position and an other path using said other initial position if said curvature at any path data point is greater than a predetermined curvature.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-05-11 | 2001-11-10 | 2002-05-12 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-05-11 | 2005-11-10 | 2006-05-12 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-05-11 | 2009-11-10 | 2010-05-12 | $7700.00 | Window Closed / Lapsed |